Alvaro Fernandez
2ecffff700
fw_tecs: Support tighter altitude tracking during low-height flight ( #23519 )
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* fw_tecs: Support tighter altitude tracking during low-height flight. Added FW_T_THR_LOW_HGT defining low-height flight threshold
* tecs: Applied smoothed-out altitude TC transition to landings
* fw_tecs: modified tighter altitude control for low-height implementation
* addressed PR comments
* addressed PR comments
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Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
2024-09-19 16:24:53 +03:00
Konrad
4713a6737e
TECS: ramp up fast descend over 2_s to ramp down the throttle command
2024-09-13 14:04:39 +02:00
Silvan Fuhrer
a47b684fd7
tecs_status.msg: directly add underspeed ratio to msg instead of boolean
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-07 12:18:06 -05:00
Silvan Fuhrer
8741a9784d
TECS: remove TECS_MODE enum and instead add descriptive boolean flag to tecs_status
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New flag: underspeed_mode_enabled.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-07 12:18:06 -05:00
Silvan Fuhrer
460956fd33
TECS: revert altitude controller to old logic
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- if the height rate input into TECS is finite, use that one to
update a velocity reference generator
- if the velocity reference generator reports position locked or
height rate input is not finite, then run altidue reference generator
- run altitude controller only if altitue is controlled
if height_rate_setpoint is set, only use that one to update altitdue trajectory
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-04-06 20:12:52 +02:00
Silvan Fuhrer
dde656f4b1
TECS status: rename tecs_status.altitude_filtered to altitude_reference
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-04-06 20:12:52 +02:00
Silvan Fuhrer
76116d79f9
TECS: remove umcommanded_descent flag
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-03-01 10:39:09 +01:00
Silvan Fuhrer
527225357b
TECS: remove unused TECS_MODE_CLIMBOUT
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-03-01 10:39:09 +01:00
Silvan Fuhrer
d53d200aa5
Update msg/TecsStatus.msg
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Co-authored-by: KonradRudin <98741601+KonradRudin@users.noreply.github.com>
2023-01-26 17:04:43 +01:00
Silvan Fuhrer
88ec117e59
TECS: rename tecs_status.altitude_filtered to altitude_sp_ref
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-01-26 17:04:43 +01:00
Silvan Fuhrer
fc1c5da92c
tecs_status.msg: add comments to states
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-01-26 17:04:43 +01:00
Konrad
f5524fa605
TECS: Combine both airspeed and airspeed derivative filters in TECS into one MIMO filter using a steady state Kalman filter.
2022-12-21 09:04:19 +01:00
Daniel Agar
cea185268e
msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge
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- update all msgs to be directly compatible with ROS2
- microdds_client improvements
- timesync
- reduced code size
- add to most default builds if we can afford it
- lots of other little changes
- purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
2022-10-19 19:36:47 -04:00
